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提出了一种新型3-DOF串并混联拟人机械臂及这种机械臂的基于性能图谱的概率参数设计方法,对这种机械臂进行了运动学性能分析,推导出这种混联机械臂的位置反解方程、速度传递平衡方程和静力传递平衡方程,定义了速度传递性能评价指标、力传递性能评价指标及各全域性能评价指标,绘制了各全域性能评价指标的性能图谱,应用基于性能图谱的概率参数设计方法,为这种机械臂选取了合理的结构参数,同时,考虑加工与装配工艺性,设计了一种3-DOF串并混联拟人机械臂,为这种机械臂的应用奠定了基础.这种机械臂具有运动灵活、刚度大、惯性小和工艺性好等优点,在精密抛光、航空、造船、汽车等现代工业领域有广阔的应用前景,这种机械臂与球面三自由度并联机构串联在一起,可构成6-DOF串并混联拟人机械臂.
A new type of 3-DOF serial-parallel hybrid humanoid robot and its performance-based probability parameter design method are proposed. The kinematic performance of this kind of manipulator is analyzed, and the hybrid manipulator The position transfer solution, speed transfer balance equation and static transfer balance equation, the speed transfer performance evaluation index, the force transfer performance evaluation index and the global performance evaluation index are defined, and the performance maps of each global performance evaluation index are drawn. In this paper, a reasonable parameter of the mechanical arm is selected. At the same time, a 3-DOF serial-parallel hybrid humanoid robot is designed considering the processing and assembling process. Which has laid a foundation for the application.It has the advantages of flexible movement, large rigidity, small inertia and good manufacturability and has broad application prospects in modern industrial fields such as precision polishing, aviation, shipbuilding, automobile and the like, A three-DOF parallel mechanism can be connected in series to form a 6-DOF series hybrid robot.